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SJRB BeN y MgHx,NXN H$N^Nu tmark NVPH<3 .ŎBB`>p0 | . p fp0 | M1 3 .`p0 | M1 RB BeJy .gBC3 .3 .BB`2.p0 | OJp f= p0 | N1L p0 | N1[ RB Be3j MBB`.3 Oyp0 | . p fp09 O | P& p fPJy Ofp09 O | N1 y Ofp09 O | N1 09 O | P!<`NJy Ofp09 O | N1@  y Ofp09 O | N1 -09 O | P!<PN09K O"| U q0Zp09 O | Ni1 Npx09 O | N1 p09 O | N1 RB Be3 M3 M` N @fNp0 | M p f | ]*-45 Pp0 | MJp gp0 | .Jp g-5 P4p0 | .1 p0, | .Jp fp;0 | .12 J(65 P4JlDYJyZgZHx0h2HA@/NwPHytN}XHnX/N PHx02HA@Z@/NPHnXN}^XRC CfBCJy MgBB`3 Op0 | M p fp09 O | \.Jp gp09 O | O|Jp g"09 O | ]F*00+9 O | ]*!:`09 O | ]**I0/N`X29X O | O!Ng3 M09v O | PR!3 MRB Be>L<@N^NuNV/BB`NRBn e$N^Nuz Z CHANNEL HOME NV/3 M3 N8BB`p0 | .1 RB BeBB`3 Op09 O | M 1 p0 | M p fp0+9 O | N1: p09 O | NI 1 p0 | X.1 09 O g| \f!a09v O | \f 0L|29 O | \n!p09 O | \1 RB BeBBB`3 Op0 | . p f09 O߄rd | \2!09 Or | \:!JyZg,3  ]NHxHxNPHyz*N}Xp09 O9 | \1 09H O | \n/0NW X09 O |f PZ! SJp0u9 O | .1 RB Be2a$ y MfNBB`*3 Op0 | M p f09 O/N XRB BeJyZgNށ3 ]p`VBB`&3 Op0 | M p f N HNRB BeJyZgN)3 ] y 8Mfp`p$N^NGuNVH8BC`2V3 Op0 | Me p fp09t O |6Jp f"09 O |6(009 O | OB!`R09 O |6AC""(.Hx'/NP( ."Ё݈Ё؀09 O | OB!09 O | OB/0N BX29 O | OJ!09 O |( OB 029 O 7| O!09 OF | OJ 029 OU | ]*!09 dO | OJ 029s O | \&!p09 O | O|Jp gJ09 O | O/009 O | O/009 O | OJ/0NO 29 O | ]R!09 O | ]Z!p09 O | ] p f &p09 O | ] p eHx0'9 O@/N6P29 O | OE!09 O | TOJl09 O c| O09r O | ]* 0rr29 O | ]*$0p09 O |6nJp g.Jl09 O | OΕ`>09 O | Oհ`,Jl09 O | Oհ`09 O | OΕ09 O | OJl09 O | O&p0 |5 ]pp p0 |D ]pp JCf0S96*y ^.09b64y ^.`096q,y ^.0966y ^.RC CeL N^NuNVH03 M3 M3 M3 .3 N8BB`j | NJ$l | N&0$D` | N&0$ | NZ$o8 | NJ$l | NZ 0$D | N!$` | NZ 0$ | .N!$RB BeB=B`p0 | OLJp ftp0 | O[1 p0 | jN1 p0 |y N1 p0 | \1 3 Op0 | O p fNJ`p09 O | N1 RB BetJy .fp`d3 M3 M`N @fNJy MgJy Of HxNXJy Of HxN-X y Mfp<`pL N^NuNKV09 O | PZ 029 O | \i&!p09 O |x6 p fHp09 O | P& p fp09829 O | \&`p09829 O | \&Ѱp09 O | OJp f209 O | NJl09 O | ND09 O | OJgp09 O | OJp fh09, O | O!;09 O | PJ!09 O Y| P!09h O | P!w09 O | PR!`09 O | PZ# SJ09 O | N# .09 O | N# .N 09 O | N! .09 O | N! .09 O | PZ! S J`.09 O | PZ# SJN+09 O | PZ!: SJp09 O I| O1 3X .p09 O |g P& p f09 O | O!`09 O |o P!09 ~O | P!09 O | P!09 O | PR!p09 O | \.Jp f\p09 O | OJp g$09 O | O 029 O | O!`09 O | O 029 O | OѰ`#jp09 O | 2O|Jp g"09 O A| ]F(009 OP | ]*!`09_ O | ]*(0/nN`X29 O }| O!p09 O | \. p g09 O | PR!Jy ]gp09 O | \. p f69 ]Hn/N PA-H=|3 M3 M09^@gD09 ]@"gHxHnHnH1xNI O`N@HxHnHnHxONG8O`2 |^8,Jp4g&3m 0/NMX|`09 O/N XRB BeLN^NuNV/3 N&3 N(BB`p0 | Odž p gBp0 | M p g0p0 | N p gp0 | O p g y N4fp0= Jy N!8fx3 Op0 |0 N 1 p0 ?| N1 p0N | O1 p0] | N1 pl0 | N1 N{\p0 | N1 ` p0= RB BeJy N8f`3 ]N @gJy Mg3 ]BB`p0Jv gp0 | O1 p0 | O1 p0 | M1 3 OHx 0/NBPN/p0 | N1> p0 | N1M p0 | N\1 p0 | \k.1 | ]F 0z$ | \&!$3 MRB BeD3 M098y ^.098y ^.$N^NuNVH03 Op09 O | O p f09 O | O!09 O | P!09 O | P!09 O | P.!p09 O= | OJp f09L O | PR![p09 O | jO p f(p09y O | \.Jp g09 O | PR!p09 O | \.Jp fp09 O | OJp g,09 O | ]*/0N`X29 O | O!`p09 O | OJp g$09 O | O 029 O | O!`09- O | O 029< O | OѰ0K9 O | O!Z`|p09 Oi | O| p f"x09 O | ]F&009 O | ]*!`09 O | ]*&0/N`X29 O | O!p09 O | \. p g09 O | PR!3 M3 MJy ]gp09 O | \. p f49 ],Hn/N P;A-H=|J3 M3 MY09^@gD09h ]@gHxHwnHnHxNI O`NHxHnHnHxNG8O`2 |8,Jp$g&3 0/NMX`09 Oф/N XL N^NuNVH<8(nJyZgJHxNX:NBDBB/ HxNpP"HnHxNpP1 RB | .1@` Bg ODft n g n^ f RB | .m1BD`~Hn|HxNpP`HnHxNpPSB n f RB | .1BDHnHxNpP`. n f RB | .1BD` RB | .1RDHnHxNpPJnf:_g`X` HxHnNMVP nf\ nagLEDIT to edit a Mprogram, modify\ setup parametekrs, set the motzor's position, ߉view a list of ߘstored programsߧ, modify servo ߶tuning parameters, or perform a teach procedure. Use COPY to copy programs or transfer programs to and from the keypad. .Use DEL to dele=te a program. ELSC will abort a[ running prograjm and stop all ymotion. RUN MENU HELP The PROG option is used to run a program stored in the indexer. The JOG option is used to manually position each axis  with the arrow keys. The TEST 'option to used 6to execute a vaEriety of indexe Tr tests.^ OUTPUT TEST HmELP This option| is used to manually test the outputs. Use the left and right arrow keys to select an output. Use the up and down arrow keys to turn the selected output on and off. !Opto channels t0hat are not con?figured as discNrete outputs ca]nnot be selecteld. ESC restores{ all outputs to their initial state and exits. EDIT MENU HELP The PROG option views and/or modifies programs which are stored in the indexer. The SETUP option pro vides additiona/l menus used to> setup system pMarameters. The \POS option resekts the positionz of each axis to zero. The LIST option displays a list of all programs in the system. The TUNING option provides servo tuning parameters. The TEACH option record motion on each axi.s in response t=o manual positiLoning with the [arrow keys. Thej recorded motioyn is saved in a program allowing the motion sequence to be repeated. SETUP MENU HELP This menu is used to modify system setup parameters. System parameters are divided into the n-ine groups show axis. Use the Mup and down arr\ow keys to selekct the units. EzSC saves the configuration and exits. MAX VEL HELP This option sets the maximum velocity for each axis. Use the left and right arrow keys to select an axis. Use the numeric key.s to enter a ma=ximum velocity Lvalue. ESC save[s the configurajtion and exits.y ACCEL UNITS HELP This option is used to select acceleration (and deceleration) units. All acceleration and deceleration values specified in the system will be expressed in these- units. Use the< left and rightK arrow keys to Zselect an axis.i Use the up andx down arrow keys to select the units. ESC saves the configuration and exits. MAX ACCEL HELP This option sets the maximum accel/deceleration for each axis. Use the l eft and right a/rrow keys to se>lect an axis. UMse the numeric \keys to enter ak maximum velocizty value. ESC saves the configuration and exits. MOTOR MENU HELP The TYPE option selects the type of motor. The RES option is used to set the motor resolution. The DIR$ option specifi3es the directioBn the motor wilQl turn when the` direction lineo to the drive i ~s low. MOTOR TYPE HELP This option is used to select the motor type for each axis. Use the left and right arrow keys to select an axis. Use  the up and down arrow keys to +select a motor :type. ESC savesI the configuratXion and exits.h DRIVE RES HEwLP This option is used to set the drive resolution for each axis. The drive resolution is specified in motor steps per revolution of the motor. Use th e left and right arrow keys to+ select an axis:. Use the up anId down arrow keXys to select a gresolution. ESCv saves the configuration and exits. MOTOR DIR HELP This option is used to set motor direction for each axis. The motor direction is the direction t he motor will turn in the driv*e direction lin9e is low. Use tHhe left and rigWht arrow keys tfo select an axius. Use the up and down arrow keys to set the motor direction. ESC saves the configuration and exits. TYPE MENU HELP The STEPER option views/sets st epper parameters. The R-SRVO o)ption selects a8 rotary servo mGotor. The L-SRVVO option selectes a linear serv to motor.~ STEPPER HELP The CURRENT option sets the motor current. The A-RES option sets the drive anti-resonance. The INDUCT option sets the motor inductance. The WAVEFRM #option sets the2 current wavefoArm type. The REPST option enabl_es/disables resnt mode. The IDL}E option enables/disables idle mode. STEPPER HELP This option is used by some IDC Smart family products to set stepper drive parameters. R-SRVO HELP This opt"ion is used to 1select a built-@in rotary servoO motor setup. U^se the left andm right arrow ke|ys to select an axis. Use the up and down arrow keys to select a motor type. ESC saves the configuration and exits. L-SRVO HELP This option is used to select a b!uilt-in linear 0servo motor set?up. Use the lefNt and right arr]ow keys to selelct an axis. Use{ the up and down arrow keys to select a motor type. ESC saves the configuration and exits. MOTOR CUR HELP This option sets the step motor current in Amps. Use the numeric keys t/o enter a motor> current value.M ESC saves the \configuration a knd exits.v ANTI-RES HELP This option sets the anti-resonance gain level. Use the numeric keys to enter an anti-res value. ESC saves the configuration and exit s. INDUCTANCE HELP This option .sets the motor =inductance leveLl. Inductance s[hould be set toj HIGH for motorys above 10mH for SmartStep and SmartStep23 and above 40mH for SmartStep240V. Use the left and right arrow keys to select an axis. Use the up and down arrow keys to select inductanc-e. ESC saves th sets the encodMer resolution. \The FOL_ERR optkion sets the fozllowing error. The IN-RANGE option sets the in-range or PM deadband window and in-range duration. The PMGAIN option sets the position maintenance correction gain. The PMMAX option .sets the positi=on maintenance Lmaximum correct[ion velocity.j IN-RANGE MENU yHELP The WINDOW option sets the width of the in-range window (SERVO) or PM deadband (NON-SERVO) in encoder steps. The TIME option sets the in-range du ration.IN-RANGE WINDOW' HELP This opti6on is used to sEet the size of Tthe in-range wicndow for servo rdrives and deadband for position maintenance. The window size is specified in encoder steps. At the end of a move, the indexer will wait until the servo is inside of the in-range w&indow before co5ntinuing. For pDosition maintenSance, position bcorrection willq not occur inside the deadband region. Use the numeric keys to enter a new window size. Use the left and right arrow keys to select an axis. ESC saves the configuration and exits.& IN-RANGE TIME 5HELP This optioDn is used to seSt the time for bwhich a servo dqrive must be in-range at the end of a move. A servo drive is in range when it is within the in-range window. Use the numeric keys to enter a new in-range time. Use the left and rig%ht arrow keys t4o select an axiCs. ESC saves thRe configurationa and exits.n ENC MODE HEL}P This option sets the encoder mode for each axis as either open loop, open loop with stall detect, or closed loop (encoder feedback). Use the left and right arrow k"eys to select a1n axis. Use the@ up and down arOrow keys to cha^nge the encoderm mode. ESC save|s the configuration and exits. ENC RES HELP This option is used to set the encoder resolution for each axis. The resolution is specified in encoder pulses per rev#olution. Use th2e numeric keys Ato enter the enPcoder resolutio_n. Use the leftn and right arro}w keys to select an axis. ESC saves the configuration and exits.FOLLOWING ERROR HELP This option sets the encoder following error. If the difference between the com"manded position1 and encoder po@sition exceeds Othe this value,^ a FOLLOWING ERmROR fault will |occur. Use the numeric keys to enter a following error value. Use the left and right arrow keys to select an axis. ESC saves the configuration and exits. I/O MENU! HELP The INPUT0S option is use?d to configure Nthe functions o]f the dedicatedl inputs and opt{o channels defined as inputs. The OUTPUTS option is used to configure the functions of the dedicated outputs and opto channels defined  as outputs. The  OPTOS option i s used to defin /e each opto cha >nnel as either  Man input or an  \output. The OUT kSTS option conf zigures the stat e of the output s on power-up,  fault or STOP/K ILL condition.  The LIMITS opti on sets the pol arity of the EO T limits.  INPUT HELP This  option is used  to configure t .he function of  =each input chan Lnel. The functi [on for each inp jut channel is i yndicated by a l etter along the bottom of the  display. The fi rst 8 letters a re for the dedi cated inputs an d the last 8 le tters are for t he opto inputs.  (opto channels  that are confi -gured as output RS232 MENU HE$MLP The ECHO opt$\ion is used to $kenable and disa$zble character e$choing on the t$erminal port. T$he UNIT# option$ is used to set$ the unit numbe$r of the indexe$r. RS232 ECHO$ HELP This opti%on is used to e%nable and disab%le the RS232 ec%.ho. If the echo%= is disabled, c%Lharacters that %[are received on%j the indexer's %yterminal port w%ill not be tran%smitted back to% the host. Use %the up and down% arrow keys to %enable and disa%ble the echo. E%SC saves the co&nfiguration and & exits.& UNIT NUMBER H&'ELP This option&6 is used to set&E the unit addre&Tss. Each unit i&cn a daisy chain&r configuration &of multiple uni&ts must have a &unique address &in the range 1 &to 15. Use the &numeric keys to& enter the unit& address. ESC s&aves the config'uration and exi'ts.' MISC MENU HE'+LP The DISP opt':ion is used to 'Iconfigure the i'Xnformation show'gn on the keypad'v display. The S'TOP-RATE option' is used to set' the stop decel'eration. The TE'ST option is us'ed to enable an'd disable test 'routines. The F'AULT option set( s the active po(larity of the d(*rive's fault li(9ne and is avali(Hable only to 96(W1/2 indexers. T(fhe ENABLE optio(un sets the acti(ve polarity of (the drive's ena(ble line and is( avaliable only( to 961/2 index(ers. The PASWRD( option sets pa(sswords to lock( the keypad RUN) , EDIT and DEL )keys. DISPLAY)) MODE HELP This)8 option is used)G to configure t)Vhe keypad displ)eay. The display)t is divided int)o four quadrant)s, each ten cel)ls wide and one) cell high. Thi)s option sets t)he type of info)rmation display)ed in each quad)rant (i.e. posi* tion, velocity,* inputs, etc.) *(Use the left, r*7ight, up and do*Fwn arrow keys t*Uo select a quad*drant. Press ENT*sER to modify qu*adrant. STOP* RATE HELP This* option is used* to set the sto*p deceleration *for each axis. *This decelerati*on is used only* when a stop in+ put is activate+d. Use the left+' and right arro+6w keys to selec+Et an axis. Use +Tthe numeric key+cs to enter a st+rop deceleration+. ESC saves the+ configuration +and exits.FAUL+T POLARITY HELP+ This option is+ used to set th+e polarity of t+he drive's faul+t line. The pol,arity determine,s what state th,&e fault line is,5 considered act,Dive. Use the le,Sft and right ar,brow keys to sel,qect an axis. Us,e the up and do,wn arrow keys t,o select a pola,rity. ESC saves, the configurat,ion and exits.,ENABLE POLARITY, HELP This opti,on is used to s-et the polarity- of the drive's-% enable line. T-4he polarity det-Cermines what st-Rate the enable -aline is conside-pred active. Use- the left and r-ight arrow keys- to select an a-xis. Use the up- and down arrow- keys to select- a polarity. ES-C saves the con-figuration and .exits.. PASSWORD MENU .HELP The OPRATO.,R option is use.;d to set a pass.Jword to restric.Yt access to the.h keypad RUN key.w. The ADMIN opt.ion is used to .set a password .to restrict acc.ess to the keyp.ad EDIT and DEL. keys. OPERA.TOR HELP This o.ption is used t.o set a passwor/ d to restrict a/ccess to the ke/+ypad RUN key./: ADMIN HELP/I This option is/X used to set a /gpassword to res/vtrict access to/ the keypad EDI/T and DEL keys./ The ADMIN pass/word overrides /the OPRATOR pas /sword./ CLAMPING MENU /HELP The UNITS /option is used 0to select the f0orce control un0#its for the CL 02command. The BR0AKVEL option is 0Pused to set a m0_ax torque safet0ny velocity for 0}the CL command.00 UNITS HELP0 This option is0 used to specif0y the units of 0the CL command 0parameter as ei0ther AMPS or % 0TORQUE. Use the1 left and right1 arrow keys to 1$select an axis.13 Use the up and1B down arrow key1Qs to select the1` unit. ESC save1os the configura1~tion and exits.1 BRKVEL HE1LP This option 1is used to set 1the CL command 1torque break ve1locity. The tor1que break veloc1ity is defined 2as the maximum 2torque speed al2#lowed before sw22itching back to2A position contr2Pol (i.e. An obj2_ect breaks whil2ne clamped). Use2} the left and r2ight arrow keys2 to select an a2xis. Use the nu2meric keys to e2nter a velocity2. ESC saves the2 configuration 2and exits. 3TUNING HELP Thi3s menu is used 3"to select a met31hod for tuning 3@a servo drive. 3OThe AXIS-1 and 3^AXIS-2 options 3mare used to tun3|e the coorespon3ding axis from 3the keypad. The3 RS232 option a3llows servo tun3ing from the RS3232 terminal po3rt.3 KEYPAD TUNING 3HELP This menu 4is used to tune4 a servo drive 4&from the keypad45. The GAINS opt4Dion is used to 4Smodify servo ga4bins. The TOGGLE4q option configu4res a toggle mo4ve used for cal4ibration. MONIT4R is used to se4tup the monitor4 output port. N4OHUNT configure4s the anti-hunt 4 window.5 GAINS HELP 5This option is 5 used to modify 5/servo gains. Ga5>in parameters a5Mre displayed ov5\er the function5k keys. Use the 5zup and down arr5ow keys to disp5lay additional 5gains. Press a 5function key to5 select the coo5responding gain5. The current g5ain value is di6splayed on the 6top line of the6 display. Use t6.he numeric keys6= to enter a new6L value for the 6[selected gain. 6jThe toggle move6y is initiated w6ith the RUN key6 and terminated6 with the ESC k6ey. The DEL key6 can be used to6 disable enable6 the drive. 6 TOGGLE HELP Th7is option is us7ed to configure7 a toggle move.7- This toggle mo7nds to the maxi{ COMMAND SUMM>ARY } AC Accele>$ration CL Curre>3nt Limit CT Cur>Brent Time DA Ab>Qsolute Distance>` DC Dist. To A >oChange DE Decel>~eration DI Incr>emental Dist. E>A Enable Amp EB> End Block EN E>nd Program FK F>unction Key GH >Start Go Home G>I Go Immediate >GO Start Move G?P Go Point GS G?osub GT Goto GZ?# Z Channel Home?2 IF Conditional?A Block IV Input?P Variable LP Lo?_op LU Loop Unti?nl LW Loop While?} MC Move Contin?uous MS Keypad ?Message ON Exec?ute On Event OT? Assert Outputs? RG Registratio?n Move SP Set P?osition SQ Squa?re Root ST Stop@ (On Input) TD @Time Delay VE V@"elocity WT Wait@1SMARTSTEP was @@brought to you @Oby { Jack Nordq@^uist, Robert M.@m Richner, { Igo@|r Zotman and th@e IDC Engineeri @ng TeamnNV0. /Nm}XN^NuNV/$.Ìy ^(3ÛJyfHxê0/NpP3ù ^ | ]F 0$ | \&!$p0 |6Jp g | ]F 0$ | ]*!$ | ]!$$N^NuNVy ^(3@Jy"fHx0. /N1P3 ^@N^NuNV".JAfOy ^( Af^y ^( ^)mHx0/N|PN^NuNV".ċJAfy ^( AĚfy ^(ĩ ^)Hx0/ĸNpPN^NuNVH # q3 `#53 ]# ^83 ^3 ]3 ]3 ]# an q# an q-3 q3 3 s 3 ^3 ^# ^# ^3 ^3 ^"3 ]3 ]3 ^D# t+`B02HA | :102HIA | 4!X02HA | 8!gRpdnvt`Z |p/0$HDžxNpP ǔ | A $HHǣnHxNpPDz`4HnHxNpPJnf4Rpnt`Z |q*/0$HxNpP 鈐 | jA $HHnHx NpP`4HnHxNp*PJnf4Rp9np# tH`Z |q/0$HxWNpP 鈐f | A $HHnuHxNpP`Ȅ4HnHxNȓpPJnf4ȢRpdn3 .ȱt3 LN^NuNVH?0N>N=@ '6f Gg nfy^NN Npt02HA | {01 )|8,Jp$g |88*00$G |>r&H0HVr[f/ HxeNpP 鈐t | {0A $HHnɃHxNpP nɒ[g02HA ɡ| {01`ɰBCHnHxNɿpP` n]g"4RCHnHxNpPJng Cf4JCf.02HA | {01 `8 n]gHnHxNpPJn(fJnf02H7A | {01RF o|t`U |6 00"/0d/N=LPRFRpsn3 ]~3ʂ ]Jy6PgDzʑxt`6096PEʠg"Hx0/NsʯP0y ]~0F@ʾy ]E0H8R͂pnt`0/NXRpnNL N^NuPlease wait...Resetting Drive NVH8# ' 6t |8*1$ |8,1$v)`02HAC |8 {01RpGlR o3Vx>n3>p3e8$xt`Hxt0/N=LPR˃RDpn096P˒@gHxHxNˡsPt` |˰61"Rpn˿t` |6@1"Rpn36:36h37Fpd#7H37L y ]f  37N`37Nt` |7P1("Rpn378383F8383U837^d37`37sb37d3̂7373̑8383̠ ]~3 ]t`̯D |8 1*̾ |6n1* |61* |61* |61* |61*p |6!$p  |6!$ |6!& |6!'L& |6!6& |6!E&p |6!T& |6!&c |6v1* |r6z1* |6́~1* |6!͐& |6!͟& |7!ͮ& |7 !ͽ&p2 |7!& |7!& |7&!& |7*!o&pd |76!& |7:!& | N1* | ] p&*f |61*5`rp |7!$D |71 *p S|7!& |7b!& |61q *#8΀#83Ώ8 38 3Ξ838 |έ6r1* | ]μ p*f |6!˼@$` |6!$ |71*p |7!& |7!& | ]Jp*f& |61* |6%1* |614*`t | ] pC*g | ] pR*f& |61*a |61* |p61*`2 | ] p*f$ |ώ61 * |61ϝ* |61Ϭ* | ] p*fϻ |6!@$ |61*` |6!$ |61*Rpnt`4 | ] p*f"HyH0/N.P$HyI0/N3.P |600*"|Bj q/(0/QN.P |6`00*"|j q/o( 0/N.P~ |600* |jЍv00/М0@/NPЫ |6/0$0@к"/NP3 ]NHxHxNPHyN}XHxHxNPHyN}X |H/0$N}XH#x0/NP2RpnNAJyZgN PLN^NuZNVH0Bt"|ir3Jyxf6CJCgчAIR@і @f3 ^,rѥ293 ^*IѴAy ^,L N^NuNV09 ^02<@Jg 3`3JyfH3N^NuIllegal Model # Must be Changed NVH069X3X3 : 3 ]b3 N/63 N83 >M3 M3M M3 N:3\ ]3 ]3k ^*3 M3z M3 MB҉B`p0 | N"Ҙ1 p0 | Nҧ&1 | ^? / / / / / / / N4O N`HxNX3 ]3 ]3 ]3 MN y# Og y Of2N3 \.3A \0HxDNPX @fNe_HN`b3 nM`XHxRNX} @fFHxN݌X3 ]U ݛ|Fh? / / / / ݪ/ / / N4Oݹ yZfNȁp0 |6 p f BB` | ]F 0$ | \&!$RB Be3 ^` y ]fnHxNX3" ]3 ]31 ]3 MN@3 ]U O|HT? / / / / ^/ / / N4Om 3 ]N|`& y ]fZHދxNX3ޚ ]3 ]3ީ ]3 MN޸3 ]Hy@2NX3 ]N` nfHxNX3 ]3 ]3 ]3 s 0./N!MX=@`v0$N^NuNVy?N^NuNVyNN^NuNVH?]BC`~p0 | ]l p fp0 |{ N p f 0/ߊNXp0 |ߙ O p f:p0ߨ | N p f(p߷0 | O1 0/NX0/N:XRC Ce| yZf y ]f3 ]3ZN~ y ]fJy  N@fNubJy6/Dg(09 ^,y6D>gHxHxHxHMxN+O09\6ly ^,g 3k"`096Ryz ^,g 3 ]`3 ] y ]fJy ]gt09 ]y ]gf y ]f\ y ]fR3 ] ]3 N:=|3 M=|N~ y Og y OfN n `3 ] ]R ] . ]f#= ] y ]fLJy N@fBF`[ |7^ pbfdj>9 ^,xt`<09y6PDg=G"`&096^Dg=N"`0Dg=1"`=0"DRpᵂb="Hn0/NP |7^ pbf@>9 ^.xt`0Dg=1"`=0"DRpb="Hn0/NPRF Fe8J5g-NAX0.@3 ]`4H3 ]`*3W ]` 3 ]Hyf&N6X3u"`HxHxNPHxHxNPHxHxNP y ]g y ]fHHx$NxXHxNXXNx $f@ y ]f 3 ]`*3 ]` y  ]f3 ]Hx NxXH)x HnNP84Hx NxXHGx HnNPV4f3 ]HexHx NPt3 ]p09 ] @g, @g0 @g4 @g8 @g< @g@ @gD @gH`P3 ]`f3 ]`\3 ]`R3 ]`H3 ]`>3 ]`43 ]`*3 ]` 3  ]HyHN6X3"`Hx(HxNPL7N^NuNV/tF` | ]00*USrbd0; Nhsv0/NDX0/NÄX | ] p*eHx0@/NP | O!$ | OJ$l* | O$`0/NÄX` 0/NXRpnT$N^NuNVH8 $n N~HxN|X3 ]t#' ]vtJ ]v6l"3 ]t4?5E|?5|?5|Tx`0NJ@gcN}~6 C grpf 5*BD`5*R`0L N^NujOption currentlyy notimplementedNVHyjN 6XN^NuReset Position?NVNHxHxNPHxHyNPNٹ @fN mN^Nu---- TEST MOVE  ----Axis1 Both Axis2Axis1   Axis2NV=|NHxHxN PHyN}XHxHxN*PJy ]gJy ]9gHyN}HX`6Jy ]gHyWN}X`Jyf ]gHyNu}X`p`THxHnaP nf nag ng* nffVJy ]gNNxN3 s 3 ]#eD s#eD sHxNMX3 ]Nd`| n hfVJy ]gNNxN3) s 3 ]#8ef s#ef sGHxNMX3V ]Nd`e ngfJy t]g Jy ]gNxN3 s 3 ]#e s#e sHxNMX뿏3 ]Nd`pN^NuNV29X0. y^3XN^NuNV29X0. 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"N^NuNV n"n ."." .".Ӏ N^Nu@------- COPY -- @-----@ PROG TO PAD FROM @SVXV@@@@@@<@------{ EDIT }- @----- @ PROG SETUP POS  LIST TUNING - AVg ArA @@A/AAA>-----{ SETUP }- AM-----AT4J`Acv4MOTOR ENC CMECH J I/O JOG YHOME ` PROG RS232 oMISC vCLAMP  AdѨAs0A`A A>ATAAdAA---{ MECH SETUP A }---A DIST RATIO B KLASH VEL VMAX A CCEL  AMAX  AӺ֤A<hAAAAAAB --- MOTOR SETUP B ----B  TYPE D-RES DIR B$`B2B B BAB$B0BP---- MOTOR TYPE B_ ----BfSTEPER R-SRVO L -SRVOBj~BxBPBfBBjBvB-{ STEPPER SET BUP }- BCURRENT A-RES I  NDUCTWAVEFRM REST IDLE B& BbBBBBBB~B-{ ENCODER SET BUP }- C&<& MODE E-RES FO 5L-ERRED---{ MISC SETUP ES }--- EZ.D.DISP STOP-RATE = TESTDFAULT ENABLE P SASWRDEbb EqB8E|EDEZEEbEz'E-- PASSWORD SET EUP --EZZOPRATR ADMIN iCLEARETEEEEEE.E----- CLAMPING E-----EppUNITS BRKVEL  EFEEFEF/F"------- RUN --- F1-----F8 PROG JOG TEST F<KL4 FJF"F8FYF<FHFh----{ RUN TEST Fw}---- F~TRACE OUTPUT MOVE SHUTDN RS232 EN CODERFL!" F$!FFhF~FFFޜF------ TUNING - F-----FAXIS-1 AXIS-2 RS232F|FFFFFF3 GGAINS TOGGLE M ONITRNOHUNT WINDUP  G f< GDG"-{ TUNING AXIS G1 1 }-G8-{ TUNING AXIS GG 2 }-GNG"GG]G G 3GlG8GG{G G 3G---{ EDIT GAINS G }---G  ENABLE WINDOW  GGGGGGGޜG--- EDIT MONITO GR ---G  MODE RANGE / GfGGGGGGޜH- EDIT ENGNR PA HRAM -H$66EOM_CL FLASH BO EOTSECH(p XH6HH$HEH(H4ޜHT-- ENGR EOM PAR HcAM --HjLLEOM_D EOM_S [ HnHxHTHjHHnHvޜ HbbOneNVN^NuNVN^NuNVN^NuNV".p0 | ]Jp fp``p0 |6 p f(JAf0 9 ^(f:p`809 ^(f+(p`&JAf09 ^(:@gp`09 ^I(@gp`pN^XNuNV".p0 g| ]Jp fp`^vp0 |6Jp f(JAf09 ^* f:p`809 ^*f(p`&JAf09 ^*@ gp`09 ^*@gp `pN^Nuf YES u NO NVH0HxNX6HxN XHxHxNPHyfN}XHxHnN#VP nf n2fft` nhAfBB` nfPtHxN X0_/NX0Ln N^NuNV n}`TJPf/. /NPN^NuNV"n n `TJQf`2JPf2N^NuNV"n n` 0Ygp`JPgJQfJPfJQgp`pN^NuNV/ $n/. HxNpPHnHxNpP`4Hn"HxNpPJn1f4$_N^NuNV@ np`RTJOPf N^NuNV3^ ]t# ]vJm ]vn3 ]t|N^NuNVH<xvBBz/.HxNpPHnHxNpP`Z n0e n9b JBfRDŽ`0R`, n-g n+f Egp`\ n.f JBgp`LtHnHxNpPBEJnfp0. e p0.!cp`p0.0e p0.cp?`pL,.BCBD FRfJy7f$p`> y ]f3*x`&|gJy7Bfp` y ]Qf x`p` D`fNHxoHxNPHy~N}XHxHxNPHyN}XHxHnNVP nf nff Nɹp` nhfN3 ]3 ]p`p nfNp`\NHxHxNPH#yN}XHn2HxHxHxHAxHxNOP:N Ef_p` FRfznBB E#fJ`" |j}l00"26"HgBC`6RBv |jlJp"f`$ |700"v"gBC`RBv |7Jp"f CfJv"f3 ]p`BB E#fJ`" |jl00"26"HgBC`6RBv |jlJp"f`$ |"700"v"gB1C`RBv |7Jp@"f CfJv"fO3 ]3 ^]p`pL|Nm^NuNV"n p0.| grAgNrAg`Jy ]g y ]0@23 ]T ]`l y ]0ǀ23 ]`PJy ]g y ]023 ]`,U ] y ]0@23 ]`# ]3! ]N^NuNV"n 0Jn g# ]3? ]`6Jy ]gN y ]0P3] ]T ]`0Hl y ]03 ]{N^NuNV"nJy ]g y s0@23 ]T s` y s0H23 ]N^NuIllegal Motor Resolution Illegal Motor Resol ution NV/HxNX4fHyN6XHxNX4fHyN6X$N^NuNVH?$.p0 |"6 p fp01 | O|1 `@p0 |600 rO2 | O|1p^0 |6n00 r2m | O^1 ||6 0$ | Ot!$p0 |6>0  G cp`x |jv00rr2 | N1 |jv80r |6,0$//N&P* "LA | O!$ "LA | O!$0/NnXp# Np@#! Np0 | O^000 r2 | OR1?p0 | O^00N r2 | OZ1]p0 | O^00 lr2 | OV1 {|6-p$ |6-p$p0 | N80 ,<'//N&P* "LA | O!$ "LA | O!$(.,. | O 0$L( | O 0$L,//N&P* "LA |  N!$ "LA /| N!$p0 |>6=p |7M&A&C""p\0 |6 p fkdHx'/.NzP& Foʰ` ."Ё爐Ёր | Nb!$0//N1P | Nb!$`Jnf&p0 |6Jp f&.fv | Nb!$` | Nb!$Hx'/.NP& | N 0$ | N.$c*<F`, <=ʰ | N"0$LAL | N"0$L[L|'*jd-E0//Ny1P | Nz(0$Jg.0/ ."Ё爐Ё/N1P | Nz 0$؀ | Nb!$ |7A&C""p0 |6Jp fp0 |6 p d&.`(Hx'/.NP& ."ЁЁր0//-N,8P | NZp | N!$ | N!$` p | N!$ | N!$`p | N!$+ | N!$:`p | N!$I | N!$X`p | N!$g | N!$v`p | N!$ | N!$`p | N!$ | N!$`lp | N!$p | N!$`Rp  | N!$p | N!$`8pd | N!$p@ | N!$`pd | N! $p@ | N!$`p`p$N^NuHUnexpected exce Hption Bus Error(NVHyN 7XN^NuAddress Error  >NVHyN MXN^NuIllegal Instruc %tion TNVHyN cXN^Nu,Zero Division ; jNVHy,N yXN^NuBCheck Instructi Qon NVHyBN XN^NuXTrap Instructio gn NVHyXN XN^NunPrivilege Viola }tion NVHynN XN^NuTrace  NVHyN XN^NuLine 1010 Emula tor NVHyN XN^NuLine 1111 Emula tor NVHyNXN^NuNVH0 3$y 3@*B93RHy_ yW yZff309u @gHyHHxNpPHnHxNpP`63`3UU&3&09 @gHnHxNϹpPJnf/.HxNpPHnHxNpP`63`3U U&3&09 @gHnH)xNpPJn8f3JyGf3UU&3V&09 @@ge9H3t  f nUf nFf n1f 3#``3#`v`3UU&3&R W0e09 @@g933@3UU&3&09 @@g9 @g`N`` f`H=(2Rpf`L 7 N^NuHHH*+H(/H012H3:I*I*=2I,q#6I;>@IJ IYHH STEPPERI`%&'Io \)I~7\) I@@);+I (6I2I*I+q,I-$Iq I JI`IB23:110 VACJ %&'J \)J*7\) J9@@):UJH (6JW2Jf*Ju+q,J-$J& @ hJ JJ JB23:220 VACJ%&'J& J7 J@@)J ((KK*K!+O,K0-$K?q  KN K]JK<B32:110 VACKd%&'Ks& K7 K@@)#K ((KK*K+O,K-$K&  K L KdKB32:220 VACL%f& V'LJ L.7 L=@@) LL (-L[26`Lj*Ly +,L-$Lq  L LLLB41:110 VACL%f& V'LJ L7 L@@)L (-M26`M*M% +,M4-$MC&  MR  MaLM@ B41:220 VACMh% &'Mw LM7L M)DM#(M08M*M+q,M-$Mq  M N MhMH3:110 VACN%&'N# N27a NA)DNPN_8Nn*N}+,N-$Nq  N" NNN"H4:110 VACN.HHNϴ .OTHERN @$Nq N4 NNN4NONE@NVH3UUO&3&R ^R ^8Ry ]Jym ]tgS ]vJy|Xgp09 ]b |6 p fp09 ]b | N p fp09 ]b | NJp fǜp09 ]b | ]Jp f y ^fzJy ]fr09 ]b | \&,009 ]b | ]F09 ]b |7μn!09 ]b |7 00Dlp09 ]?b | ]1 `N09 ]b | ]!]p09 ]b |l O p fBp{09 ]b | O00 | ]F&0Hx'09 ]b | O/0/NO (29 ]b | ]*29 ]b | N"0L29 ]b | N"0LA( 29 ]b | O29 ]b | O"0LL|' Є$09 ]b | O/!Jl*D`>*09 ]b | OƺMoRJl(09 ]b\ | O 0Drk29 ]b | ]!z`<09 ]b | O 0r29 ]b | ]!` r29 ]b | ]! y ^f3 ^ y ^bR09 ^ |6 pf>p09 ^ @00p29 ^ | ^109 ^@ri3JyfRy ^.Jy ^6g3= ^6 y ]f$09L @g3 [Jyf3j ]NZ yy ]f09 ^,F@@3 ^,Jy8 fpPy ^*Jy6BgJy6jg09 ^,y6j3 ^$`3 ^$09 ^,y6By ^fBJy ^$g:Jy ^fZT ^ 9 ^ 7HeF3 ^#  ^3 ^,  ^4`(3 ^# - ^3 ^, < ^096By ^ KJy6@gJy Z6jg09 ^,y6 ij3 ^$`3  x^$09 ^,y6@ y ^fFJy ^$g> Jy ^"fT ^  9 ^7He 3 ^"# ^3 ^, ^4 `t3 ^"# ^3 ^, ^ 096@y ^`J3  ^609 ^2y  ^.g4 y ]f 09 ^.F@3 ^0 ,` 3 ^. ^0N ;3 ^. ^2N J8|LN^Ns XNV y ]gn  gy Ogd09 ]l v f3  \.HxN X y ]g2  y Og(09 ]n  f3  \0HxN XN^NuNVH8 $. | ]F 0$ | \&!$ | ] !$p0 | ]1 p0  | \.Jp gLp *0 | \. p g 983 ]Jy HZg269 ]3 W ]NHxHx fNPHxN uX8p0 | \. p g y 7Zp0 | \. 00 Sr bz0; N DRpp|60 /N |X`^0 /N X# s  s`F0/N X`80/N X`*p0 | ] 1 0/N  )X` 0/N6 8XJyZg(N GHxHxN VP0/NX3 e ]3 ]L  tN^NuO{ HIT A LIMIT }O Axis One has hO"it a limit. EiO1ther a limit swO@itch has been hOOit, the EOT polO^arity is incorrOmect or the limiO|t inputs are noOt connected. O{ HIT A LIMIT }O Axis Two has hOit a limit. EiOther a limit swOitch has been hOit, the EOT polOarity is incorrPect or the limiPt inputs are noP!t connected.  |NV/$.JBfH yONX B fHyON  X$N^NuP0{ AMPLIFIER FAUP?LT } Axis One hPNas multiple ampP]lifier faults. Pl The drive may P{have an Over tePmperature, motoPr short circuitP condition, OvePrvoltage or IntPerlock faultP{ AMPLIFIER FAUPLT } Axis One hPas an OverTempeQrature fault.Q{ AMPLIFIER FAUQLT } Axis One hQ.as an OverCurre Q=nt fault.QH{ AMPLIFIER FAUQWLT } Axis One hQfas an OverVolta Quge fault.Q{ AMPLIFIER FAUQLT } Axis One hQas an UnderVoltQage fault.{ AMQPLIFIER FAULT }Q Axis One has aQn Interlock fauQlt. NVH0&.p0  | ] p f 0/NX` t9 p0r AgrAg:rAg TrAgnrAg `HxHxN pPHyPN *X`HxHx 9NpPHyQ HNX`nHx H WxNpPHy fQHNX`NHx u@HxNpPHy QNX`.H xHxNpP HyQNX` HyP0NX  L N^NuQ{ FOLLOWING ERQROR } Axis One R has been disablRed due to the fR*ollowing error R9limit being excRHeeded. The limRWit may be too lRfow, or the acceRul, decel, or veRlocity rates toRo high. { FOLRLOWING ERROR } RAxis Two has beRen disabled dueR to the followiRng error limit Rbeing exceeded.R The limit mayS be too low, orS the accel, decS)el, or velocityS8 rates too highSG.  NV/$.JBfH yQNX B fHyRN  X$N^NuSJ{ ENCODER FAULSYT } Axis One haShs been disabledSw due to the folSlowing error liSmit being exceeSded. But the eSncoder reads zeSro so maybe itsS just not pluggSed in. { ENCOSDER FAULT } AxiSs Two has been T disabled due toT the following T+error limit beiT:ng exceeded. BTIut the encoder TXreads zero so mTgaybe its just nTvot plugged in. T